受動直進ジョイントを用いた全方向移動ロボットの運動に関する研究

抄録

For further convenience, it is preferable for personal mobility to move quickly in any direction. However, the mobility with conventional wheels can not move in some directions, such as lateral or diagonal directions. In order to solve this problem, we proposed the omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM), which has three conventional wheels connected to the robot body by three passive sliding joints. These sliding joints enables the main body of SWOM to move in an arbitrary direction despite the nonholonomic constraints on the wheels. In this paper, we discuss the motion of SWOM considering its singular configuration.